Download User Manual COP

CANgine COP User Manual
PRELIMINARY
Mar 2008 (E6)
page 9 of 24
P
S
T
U
(Protocol)
(CAN baud rate)
(Timeout)
(RS232 baud rate)
0 (Std)
5 (250k)
10 ms
3 (19.2k)
The output format in operating mode COP (M1) is shown below. The values shown are the
factory default settings.
Configuration settings in CANopen mode: (M1)
A (Autostart)
0 (Off)
H (Heartbeat)
1000 ms
N (Node ID)
0x40 (64)
IT (TPDO)
0x1C0
IR (RPDO)
0x240
S (CAN baud rate)
5 (250k)
T (Timeout)
10 ms
U (RS232 baud rate) 3 (19.2k)
3.2
A Command – Autostart
This parameter is only for the operating mode COP. In setting A1 (on) the CANopen slave
does not wait for a CANopen master to start the node but switches automatically from preoperational to operational after initialization.
Format:
An[CR]
n = {0 | 1}
Answer:
[CR][LF] if parameter was accepted and stored
Error message on wrong parameter format
3.3
H Command – Heartbeat Zeit
The H command sets the heartbeat time in ms. If the time 0 is selected, the heartbeat function is switched off.
Format:
Hn[CR]
n = {0..65535}
Answer:
[CR][LF] if parameter was accepted and stored
Error message on syntax error or invalid parameter
3.4
IT Command – Identifier Transmit
The IT command sets the identifier used for the CAN transmit frame.
Depending on the active protocol (std or ext) the parameter has a different range.
Format:
ITn[CR]
n = {0..32767} or {0x0..0x7FF} if P=0
n = {0..1073741823} or {0x0..0x3FFFFFFF} if P=1
Answer:
[CR][LF] if parameter was accepted and stored
Error message on syntax error or invalid parameter
CANgineCOpManualEng_E6
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